Integrated smart actuator and valve device applications

ABSTRACT

An integrated device in an HVAC system is configured to modify an environmental condition of a building. The integrated device includes a valve configured to regulate a flow of a fluid through a conduit and an actuator. The actuator includes a motor and a drive device. The drive device is driven by the motor and coupled to the valve for driving the valve between multiple positions. The integrated device further includes a processing circuit coupled to the motor. The processing circuit is configured to detect device identifying information for the valve or the actuator and to detect the integrated device location within the building.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application claims the benefit of U.S. ProvisionalApplication No. 62/462,308, filed Feb. 22, 2017, which is incorporatedherein by reference in its entirety.

BACKGROUND

The present disclosure relates generally to building management systemsand associated devices and more particularly to an integrated valve andactuator HVAC device with wireless communications and controlcapabilities.

HVAC actuators are used to operate a wide variety of HVAC componentssuch as air dampers, fluid valves, air handling units, and othercomponents that are typically used in HVAC systems. For example, anactuator can be coupled to a damper, valve, or other movable equipmentin a HVAC system and can be used to drive the equipment between an openposition and a closed position. An actuator typically includes a motorand a drive device (e.g., a hub, a drive train, etc.) that is driven bythe motor and coupled to the HVAC component.

However, many existing HVAC actuators are largely mechanical devicesthat fail to take advantage of recent advances in processing andwireless communications technology. In particular, current HVACactuators have failed to capitalize on improvements to embeddedmicroprocessors for circuit boards. These improvements have resulted incontrol and wireless communications capabilities that may be packaged inform factors small enough to fit within existing actuator housings. Itwould be advantageous to increase the functionality of HVAC actuatordevices. At the same time, it would be advantageous to decrease theoverall number of devices a technician must install and maintain in anHVAC system.

SUMMARY

One implementation of the present disclosure is an integrated device inan HVAC system configured to modify an environmental condition of abuilding. The integrated device includes a valve configured to regulatea flow of a fluid through a conduit and an actuator. The actuatorincludes a motor and a drive device. The drive device is driven by themotor and coupled to the valve for driving the valve between multiplepositions. The integrated device further includes a processing circuitcoupled to the motor. The processing circuit is configured to detectdevice identifying information for the valve or the actuator and todetect the integrated device location within the building.

In some embodiments, the integrated device further includes acommunications mechanism coupled to the processing circuit. In otherembodiments, the communications mechanism is configured to transmit theintegrated device location to an external device. In still otherembodiments, the external device is at least one of a supervisorycontroller and a mobile device.

In some embodiments, device identifying information includes a flowrequirement. In other embodiments, device identifying informationincludes a stroke length. In still other embodiments, device identifyinginformation includes a performance profile.

Another implementation of the present disclosure is an integrated devicein an HVAC system configured to modify an environmental condition of abuilding. The integrated device includes a valve configured to regulatea flow of a fluid through a conduit, a flow sensor configured to measurea flow rate of the fluid through the conduit, and an actuator. Theactuator includes a motor and a drive device. The drive device is drivenby the motor and coupled to the valve for driving the valve betweenmultiple positions. The integrated device further includes a processingcircuit coupled to the motor and the flow sensor. The processing circuitis configured to detect a fault condition based on a measurement fromthe flow sensor and to perform a fault resolution action in response todetection of the fault condition. The actuator and the processingcircuit are located within a common integrated device chassis.

In some embodiments, the integrated device includes a communicationsmechanism coupled to the processing circuit. In other embodiments, theintegrated device is configured to receive a flow rate setpoint from anexternal control device. The processing circuit is further configured todetect the fault condition based on the flow rate setpoint.

In some embodiments, the fault resolution action includes logging afault condition.

In some embodiments, the flow sensor is a heated thermistor flow sensor.In other embodiments, the heated thermistor flow sensor is configured tomeasure a temperature of the fluid through the conduit. In still otherembodiments, the fault condition includes the temperature measurement ofthe fluid through the conduit exceeding a temperature threshold.

In some embodiments, the fault condition includes the flow measurementof fluid through the conduit exceeding a flow rate threshold. In otherembodiments, the fault resolution action includes transmitting a signalto the motor to drive the drive device a full stroke length between afirst end stop location and a second end stop location.

Still another implementation of the present disclosure is an integrateddevice in an HVAC system configured to modify an environmental conditionof a building. The integrated device includes a valve configured toregulate a flow of a fluid through a conduit and an actuator. Theactuator includes a motor and a drive device. The drive device is drivenby the motor and coupled to the valve for driving the valve betweenmultiple positions. The integrated device further includes acommunications mechanism configured to receive an automatic valvebalancing application from an external device and a processing circuitcoupled to the motor and the communications mechanism. The processingcircuit is configured to execute the automatic valve balancing program.The actuator, the communications mechanism, and the processing circuitare located within a common integrated device chassis.

In some embodiments, the external device is a mobile device.

In some embodiments, the integrated device includes a flow sensorconfigured to measure a flow rate of the fluid through the conduit. Inother embodiments, the flow sensor is located within the commonintegrated device chassis.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a drawing of a building equipped with a heating, ventilating,or air conditioning (HVAC) system and a building management system(BMS), according to some embodiments.

FIG. 2 is a schematic diagram of a waterside system that can be used tosupport the HVAC system of FIG. 1, according to some embodiments.

FIG. 3 is a block diagram of an airside system that can be used as partof the HVAC system of FIG. 1, according to some embodiments.

FIG. 4 is a block diagram of a BMS that can be implemented in thebuilding of FIG. 1, according to some embodiments.

FIG. 5 is a block diagram of an integrated smart actuator and valvedevice that can be implemented in the HVAC system of FIG. 1, accordingto some embodiments.

FIG. 6 is a block diagram of another integrated smart actuator and valvedevice that can be implemented in the HVAC system of FIG. 1, accordingto some embodiments.

FIG. 7 is a block diagram of a smart actuator valve device within acascaded control system that can be implemented in the HVAC system ofFIG. 1, according to some embodiments.

FIG. 8 is a block diagram of another smart actuator valve device withina cascaded control system that can be implemented in the HVAC system ofFIG. 1, according to some embodiments.

FIG. 9A is a block diagram of another smart actuator valve device withina cascaded control system that can be implemented in the HVAC system ofFIG. 1, according to some embodiments.

FIG. 9B is a block diagram of another smart actuator valve device withina cascaded control system that can be implemented in the HVAC system ofFIG. 1, according to some embodiments.

FIG. 10 is a block diagram of another smart actuator valve device withina cascaded control system that can be implemented in the HVAC system ofFIG. 1, according to some embodiments.

FIG. 11 is a block diagram of another smart actuator valve device withina cascaded control system that can be implemented in the HVAC system ofFIG. 1, according to some embodiments.

FIG. 12 is a block diagram of another smart actuator valve device withina cascaded control system that can be implemented in the HVAC system ofFIG. 1, according to some embodiments.

FIG. 13 is a flow diagram of a method of operating a smart actuatorvalve device within the cascaded control systems of FIGS. 7-12,according to some embodiments.

DETAILED DESCRIPTION Overview

Before turning to the FIGURES, which illustrate the exemplaryembodiments in detail, it should be understood that the disclosure isnot limited to the details or methodology set forth in the descriptionor illustrated in the figures. It should also be understood that theterminology is for the purpose of description only and should not beregarded as limiting.

Referring generally to the FIGURES, various integrated valve andactuator HVAC devices with wireless communication capabilities areshown, according to some embodiments. The integrated device may combinethe functionality of an actuator, a valve, a controller and a wirelesscommunications mechanism into a single package. The wirelesscommunications mechanism permits multiple integrated devices in a systemto communicate with each other. An electronic flow rate sensor thatmeasures the flow rate or velocity of fluid flowing through the valvemay, alternatively, be integrated within the valve or provided as aseparate component.

The integrated valve and actuator device may be utilized within acascaded control system. In a cascaded control system, a primarycontroller generates a control signal that serves as the setpoint for asecondary controller (e.g., the controller within the integrateddevice). Thus, a cascaded control system contains an outer control loopand an inner control loop. For example, the outer loop (primary)controller may determine a flow rate setpoint for the inner loop basedon the measured temperature of a building zone. In response, the innerloop (secondary) controller may utilize flow rate sensor measurements todetermine the necessary actuator position setpoint to achieve the flowrate setpoint received from the outer loop. System pressure disturbancesmay be automatically attenuated by the feedback control action of theinner loop.

The smart actuator device may be suitable for a variety of otherapplications that represent improvements over existing actuator devices.These applications may include device identification and recognition,fault detection, and troubleshooting functions. In addition, smartactuator devices may be used to perform automatic valve balancing andfire damper checkout tasks.

Building Management System and HVAC System

Referring now to FIGS. 1-4, an exemplary building management system(BMS) and HVAC system in which the systems and methods of the presentdisclosure can be implemented are shown, according to some embodiments.Referring particularly to FIG. 1, a perspective view of a building 10 isshown. Building 10 is served by a BMS. A BMS is, in general, a system ofdevices configured to control, monitor, and manage equipment in oraround a building or building area. A BMS can include, for example, aHVAC system, a security system, a lighting system, a fire alertingsystem, any other system that is capable of managing building functionsor devices, or any combination thereof.

The BMS that serves building 10 includes an HVAC system 100. HVAC system100 may include a plurality of HVAC devices (e.g., heaters, chillers,air handling units, pumps, fans, thermal energy storage, etc.)configured to provide heating, cooling, ventilation, or other servicesfor building 10. For example, HVAC system 100 is shown to include awaterside system 120 and an airside system 130. Waterside system 120 mayprovide a heated or chilled fluid to an air handling unit of airsidesystem 130. Airside system 130 may use the heated or chilled fluid toheat or cool an airflow provided to building 10. An exemplary watersidesystem and airside system which can be used in HVAC system 100 aredescribed in greater detail with reference to FIGS. 2-3.

HVAC system 100 is shown to include a chiller 102, a boiler 104, and arooftop air handling unit (AHU) 106. Waterside system 120 may use boiler104 and chiller 102 to heat or cool a working fluid (e.g., water,glycol, etc.) and may circulate the working fluid to AHU 106. In variousembodiments, the HVAC devices of waterside system 120 can be located inor around building 10 (as shown in FIG. 1) or at an offsite locationsuch as a central plant (e.g., a chiller plant, a steam plant, a heatplant, etc.). The working fluid can be heated in boiler 104 or cooled inchiller 102, depending on whether heating or cooling is required inbuilding 10. Boiler 104 may add heat to the circulated fluid, forexample, by burning a combustible material (e.g., natural gas) or usingan electric heating element. Chiller 102 may place the circulated fluidin a heat exchange relationship with another fluid (e.g., a refrigerant)in a heat exchanger (e.g., an evaporator) to absorb heat from thecirculated fluid. The working fluid from chiller 102 and/or boiler 104can be transported to AHU 106 via piping 108.

AHU 106 may place the working fluid in a heat exchange relationship withan airflow passing through AHU 106 (e.g., via one or more stages ofcooling coils and/or heating coils). The airflow can be, for example,outside air, return air from within building 10, or a combination ofboth. AHU 106 may transfer heat between the airflow and the workingfluid to provide heating or cooling for the airflow. For example, AHU106 may include one or more fans or blowers configured to pass theairflow over or through a heat exchanger containing the working fluid.The working fluid may then return to chiller 102 or boiler 104 viapiping 110.

Airside system 130 may deliver the airflow supplied by AHU 106 (i.e.,the supply airflow) to building 10 via air supply ducts 112 and mayprovide return air from building 10 to AHU 106 via air return ducts 114.In some embodiments, airside system 130 includes multiple variable airvolume (VAV) units 116. For example, airside system 130 is shown toinclude a separate VAV unit 116 on each floor or zone of building 10.VAV units 116 may include dampers or other flow control elements thatcan be operated to control an amount of the supply airflow provided toindividual zones of building 10. In other embodiments, airside system130 delivers the supply airflow into one or more zones of building 10(e.g., via supply ducts 112) without using intermediate VAV units 116 orother flow control elements. AHU 106 may include various sensors (e.g.,temperature sensors, pressure sensors, etc.) configured to measureattributes of the supply airflow. AHU 106 may receive input from sensorslocated within AHU 106 and/or within the building zone and may adjustthe flow rate, temperature, or other attributes of the supply airflowthrough AHU 106 to achieve setpoint conditions for the building zone.

Referring now to FIG. 2, a block diagram of a waterside system 200 isshown, according to some embodiments. In various embodiments, watersidesystem 200 may supplement or replace waterside system 120 in HVAC system100 or can be implemented separate from HVAC system 100. Whenimplemented in HVAC system 100, waterside system 200 may include asubset of the HVAC devices in HVAC system 100 (e.g., boiler 104, chiller102, pumps, valves, etc.) and may operate to supply a heated or chilledfluid to AHU 106. The HVAC devices of waterside system 200 can belocated within building 10 (e.g., as components of waterside system 120)or at an offsite location such as a central plant.

In FIG. 2, waterside system 200 is shown as a central plant having aplurality of subplants 202-212. Subplants 202-212 are shown to include aheater subplant 202, a heat recovery chiller subplant 204, a chillersubplant 206, a cooling tower subplant 208, a hot thermal energy storage(TES) subplant 210, and a cold thermal energy storage (TES) subplant212. Subplants 202-212 consume resources (e.g., water, natural gas,electricity, etc.) from utilities to serve the thermal energy loads(e.g., hot water, cold water, heating, cooling, etc.) of a building orcampus. For example, heater subplant 202 can be configured to heat waterin a hot water loop 214 that circulates the hot water between heatersubplant 202 and building 10. Chiller subplant 206 can be configured tochill water in a cold water loop 216 that circulates the cold waterbetween chiller subplant 206 building 10. Heat recovery chiller subplant204 can be configured to transfer heat from cold water loop 216 to hotwater loop 214 to provide additional heating for the hot water andadditional cooling for the cold water. Condenser water loop 218 mayabsorb heat from the cold water in chiller subplant 206 and reject theabsorbed heat in cooling tower subplant 208 or transfer the absorbedheat to hot water loop 214. Hot TES subplant 210 and cold TES subplant212 may store hot and cold thermal energy, respectively, for subsequentuse.

Hot water loop 214 and cold water loop 216 may deliver the heated and/orchilled water to air handlers located on the rooftop of building 10(e.g., AHU 106) or to individual floors or zones of building 10 (e.g.,VAV units 116). The air handlers push air past heat exchangers (e.g.,heating coils or cooling coils) through which the water flows to provideheating or cooling for the air. The heated or cooled air can bedelivered to individual zones of building 10 to serve the thermal energyloads of building 10. The water then returns to subplants 202-212 toreceive further heating or cooling.

Although subplants 202-212 are shown and described as heating andcooling water for circulation to a building, it is understood that anyother type of working fluid (e.g., glycol, CO2, etc.) can be used inplace of or in addition to water to serve the thermal energy loads. Inother embodiments, subplants 202-212 may provide heating and/or coolingdirectly to the building or campus without requiring an intermediateheat transfer fluid. These and other variations to waterside system 200are within the teachings of the present disclosure.

Each of subplants 202-212 may include a variety of equipment configuredto facilitate the functions of the subplant. For example, heatersubplant 202 is shown to include a plurality of heating elements 220(e.g., boilers, electric heaters, etc.) configured to add heat to thehot water in hot water loop 214. Heater subplant 202 is also shown toinclude several pumps 222 and 224 configured to circulate the hot waterin hot water loop 214 and to control the flow rate of the hot waterthrough individual heating elements 220. Chiller subplant 206 is shownto include a plurality of chillers 232 configured to remove heat fromthe cold water in cold water loop 216. Chiller subplant 206 is alsoshown to include several pumps 234 and 236 configured to circulate thecold water in cold water loop 216 and to control the flow rate of thecold water through individual chillers 232.

Heat recovery chiller subplant 204 is shown to include a plurality ofheat recovery heat exchangers 226 (e.g., refrigeration circuits)configured to transfer heat from cold water loop 216 to hot water loop214. Heat recovery chiller subplant 204 is also shown to include severalpumps 228 and 230 configured to circulate the hot water and/or coldwater through heat recovery heat exchangers 226 and to control the flowrate of the water through individual heat recovery heat exchangers 226.Cooling tower subplant 208 is shown to include a plurality of coolingtowers 238 configured to remove heat from the condenser water incondenser water loop 218. Cooling tower subplant 208 is also shown toinclude several pumps 240 configured to circulate the condenser water incondenser water loop 218 and to control the flow rate of the condenserwater through individual cooling towers 238.

Hot TES subplant 210 is shown to include a hot TES tank 242 configuredto store the hot water for later use. Hot TES subplant 210 may alsoinclude one or more pumps or valves configured to control the flow rateof the hot water into or out of hot TES tank 242. Cold TES subplant 212is shown to include cold TES tanks 244 configured to store the coldwater for later use. Cold TES subplant 212 may also include one or morepumps or valves configured to control the flow rate of the cold waterinto or out of cold TES tanks 244.

In some embodiments, one or more of the pumps in waterside system 200(e.g., pumps 222, 224, 228, 230, 234, 236, and/or 240) or pipelines inwaterside system 200 include an isolation valve associated therewith.Isolation valves can be integrated with the pumps or positioned upstreamor downstream of the pumps to control the fluid flows in watersidesystem 200. In various embodiments, waterside system 200 may includemore, fewer, or different types of devices and/or subplants based on theparticular configuration of waterside system 200 and the types of loadsserved by waterside system 200.

Referring now to FIG. 3, a block diagram of an airside system 300 isshown, according to some embodiments. In various embodiments, airsidesystem 300 may supplement or replace airside system 130 in HVAC system100 or can be implemented separate from HVAC system 100. Whenimplemented in HVAC system 100, airside system 300 may include a subsetof the HVAC devices in HVAC system 100 (e.g., AHU 106, VAV units 116,ducts 112-114, fans, dampers, etc.) and can be located in or aroundbuilding 10. Airside system 300 may operate to heat or cool an airflowprovided to building 10 using a heated or chilled fluid provided bywaterside system 200.

In FIG. 3, airside system 300 is shown to include an economizer-type airhandling unit (AHU) 302. Economizer-type AHUs vary the amount of outsideair and return air used by the air handling unit for heating or cooling.For example, AHU 302 may receive return air 304 from building zone 306via return air duct 308 and may deliver supply air 310 to building zone306 via supply air duct 312. In some embodiments, AHU 302 is a rooftopunit located on the roof of building 10 (e.g., AHU 106 as shown inFIG. 1) or otherwise positioned to receive both return air 304 andoutside air 314. AHU 302 can be configured to operate exhaust air damper316, mixing damper 318, and outside air damper 320 to control an amountof outside air 314 and return air 304 that combine to form supply air310. Any return air 304 that does not pass through mixing damper 318 canbe exhausted from AHU 302 through exhaust damper 316 as exhaust air 322.

Each of dampers 316-320 can be operated by an actuator. For example,exhaust air damper 316 can be operated by actuator 324, mixing damper318 can be operated by actuator 326, and outside air damper 320 can beoperated by actuator 328. Actuators 324-328 may communicate with an AHUcontroller 330 via a communications link 332. Actuators 324-328 mayreceive control signals from AHU controller 330 and may provide feedbacksignals to AHU controller 330. Feedback signals may include, forexample, an indication of a current actuator or damper position, anamount of torque or force exerted by the actuator, diagnosticinformation (e.g., results of diagnostic tests performed by actuators324-328), status information, commissioning information, configurationsettings, calibration data, and/or other types of information or datathat can be collected, stored, or used by actuators 324-328. AHUcontroller 330 can be an economizer controller configured to use one ormore control algorithms (e.g., state-based algorithms, extremum seekingcontrol (ESC) algorithms, proportional-integral (PI) control algorithms,proportional-integral-derivative (PID) control algorithms, modelpredictive control (MPC) algorithms, feedback control algorithms, etc.)to control actuators 324-328.

Still referring to FIG. 3, AHU 302 is shown to include a cooling coil334, a heating coil 336, and a fan 338 positioned within supply air duct312. Fan 338 can be configured to force supply air 310 through coolingcoil 334 and/or heating coil 336 and provide supply air 310 to buildingzone 306. AHU controller 330 may communicate with fan 338 viacommunications link 340 to control a flow rate of supply air 310. Insome embodiments, AHU controller 330 controls an amount of heating orcooling applied to supply air 310 by modulating a speed of fan 338.

Cooling coil 334 may receive a chilled fluid from waterside system 200(e.g., from cold water loop 216) via piping 342 and may return thechilled fluid to waterside system 200 via piping 344. Valve 346 can bepositioned along piping 342 or piping 344 to control a flow rate of thechilled fluid through cooling coil 334. In some embodiments, coolingcoil 334 includes multiple stages of cooling coils that can beindependently activated and deactivated (e.g., by AHU controller 330, byBMS controller 366, etc.) to modulate an amount of cooling applied tosupply air 310.

Heating coil 336 may receive a heated fluid from waterside system 200(e.g., from hot water loop 214) via piping 348 and may return the heatedfluid to waterside system 200 via piping 350. Valve 352 can bepositioned along piping 348 or piping 350 to control a flow rate of theheated fluid through heating coil 336. In some embodiments, heating coil336 includes multiple stages of heating coils that can be independentlyactivated and deactivated (e.g., by AHU controller 330, by BMScontroller 366, etc.) to modulate an amount of heating applied to supplyair 310.

Each of valves 346 and 352 can be controlled by an actuator. Forexample, valve 346 can be controlled by actuator 354 and valve 352 canbe controlled by actuator 356. Actuators 354-356 may communicate withAHU controller 330 via communications links 358-360. Actuators 354-356may receive control signals from AHU controller 330 and may providefeedback signals to controller 330. In some embodiments, AHU controller330 receives a measurement of the supply air temperature from atemperature sensor 362 positioned in supply air duct 312 (e.g.,downstream of cooling coil 334 and/or heating coil 336). AHU controller330 may also receive a measurement of the temperature of building zone306 from a temperature sensor 364 located in building zone 306.

In some embodiments, AHU controller 330 operates valves 346 and 352 viaactuators 354-356 to modulate an amount of heating or cooling providedto supply air 310 (e.g., to achieve a setpoint temperature for supplyair 310 or to maintain the temperature of supply air 310 within asetpoint temperature range). The positions of valves 346 and 352 affectthe amount of heating or cooling provided to supply air 310 by coolingcoil 334 or heating coil 336 and may correlate with the amount of energyconsumed to achieve a desired supply air temperature. AHU controller 330may control the temperature of supply air 310 and/or building zone 306by activating or deactivating coils 334-336, adjusting a speed of fan338, or a combination of both.

Still referring to FIG. 3, airside system 300 is shown to include abuilding management system (BMS) controller 366 and a client device 368.BMS controller 366 may include one or more computer systems (e.g.,servers, supervisory controllers, subsystem controllers, etc.) thatserve as system level controllers, application or data servers, headnodes, or master controllers for airside system 300, waterside system200, HVAC system 100, and/or other controllable systems that servebuilding 10. BMS controller 366 may communicate with multiple downstreambuilding systems or subsystems (e.g., HVAC system 100, a securitysystem, a lighting system, waterside system 200, etc.) via acommunications link 370 according to like or disparate protocols (e.g.,LON, BACnet, etc.). In various embodiments, AHU controller 330 and BMScontroller 366 can be separate (as shown in FIG. 3) or integrated. In anintegrated implementation, AHU controller 330 can be a software moduleconfigured for execution by a processor of BMS controller 366.

In some embodiments, AHU controller 330 receives information from BMScontroller 366 (e.g., commands, setpoints, operating boundaries, etc.)and provides information to BMS controller 366 (e.g., temperaturemeasurements, valve or actuator positions, operating statuses,diagnostics, etc.). For example, AHU controller 330 may provide BMScontroller 366 with temperature measurements from temperature sensors362-364, equipment on/off states, equipment operating capacities, and/orany other information that can be used by BMS controller 366 to monitoror control a variable state or condition within building zone 306.

Client device 368 may include one or more human-machine interfaces orclient interfaces (e.g., graphical user interfaces, reportinginterfaces, text-based computer interfaces, client-facing web services,web servers that provide pages to web clients, etc.) for controlling,viewing, or otherwise interacting with HVAC system 100, its subsystems,and/or devices. Client device 368 can be a computer workstation, aclient terminal, a remote or local interface, or any other type of userinterface device. Client device 368 can be a stationary terminal or amobile device. For example, client device 368 can be a desktop computer,a computer server with a user interface, a laptop computer, a tablet, asmartphone, a PDA, or any other type of mobile or non-mobile device.Client device 368 may communicate with BMS controller 366 and/or AHUcontroller 330 via communications link 372.

Referring now to FIG. 4, a block diagram of a building management system(BMS) 400 is shown, according to some embodiments. BMS 400 can beimplemented in building 10 to automatically monitor and control variousbuilding functions. BMS 400 is shown to include BMS controller 366 and aplurality of building subsystems 428. Building subsystems 428 are shownto include a building electrical subsystem 434, an informationcommunication technology (ICT) subsystem 436, a security subsystem 438,a HVAC subsystem 440, a lighting subsystem 442, a lift/escalatorssubsystem 432, and a fire safety subsystem 430. In various embodiments,building subsystems 428 can include fewer, additional, or alternativesubsystems. For example, building subsystems 428 may also oralternatively include a refrigeration subsystem, an advertising orsignage subsystem, a cooking subsystem, a vending subsystem, a printeror copy service subsystem, or any other type of building subsystem thatuses controllable equipment and/or sensors to monitor or controlbuilding 10. In some embodiments, building subsystems 428 includewaterside system 200 and/or airside system 300, as described withreference to FIGS. 2-3.

Each of building subsystems 428 may include any number of devices,controllers, and connections for completing its individual functions andcontrol activities. HVAC subsystem 440 may include many of the samecomponents as HVAC system 100, as described with reference to FIGS. 1-3.For example, HVAC subsystem 440 may include and number of chillers,heaters, handling units, economizers, field controllers, supervisorycontrollers, actuators, temperature sensors, and/or other devices forcontrolling the temperature, humidity, airflow, or other variableconditions within building 10. Lighting subsystem 442 may include anynumber of light fixtures, ballasts, lighting sensors, dimmers, or otherdevices configured to controllably adjust the amount of light providedto a building space. Security subsystem 438 may include occupancysensors, video surveillance cameras, digital video recorders, videoprocessing servers, intrusion detection devices, access control devicesand servers, or other security-related devices.

Still referring to FIG. 4, BMS controller 366 is shown to include acommunications interface 407 and a BMS interface 409. Interface 407 mayfacilitate communications between BMS controller 366 and externalapplications (e.g., monitoring and reporting applications 422,enterprise control applications 426, remote systems and applications444, applications residing on client devices 448, etc.) for allowinguser control, monitoring, and adjustment to BMS controller 366 and/orsubsystems 428. Interface 407 may also facilitate communications betweenBMS controller 366 and client devices 448. BMS interface 409 mayfacilitate communications between BMS controller 366 and buildingsubsystems 428 (e.g., HVAC, lighting security, lifts, powerdistribution, business, etc.).

Interfaces 407, 409 can be or include wired or wireless communicationsinterfaces (e.g., jacks, antennas, transmitters, receivers,transceivers, wire terminals, etc.) for conducting data communicationswith building subsystems 428 or other external systems or devices. Invarious embodiments, communications via interfaces 407, 409 can bedirect (e.g., local wired or wireless communications) or via acommunications network 446 (e.g., a WAN, the Internet, a cellularnetwork, etc.). For example, interfaces 407, 409 can include an Ethernetcard and port for sending and receiving data via an Ethernet-basedcommunications link or network. In another example, interfaces 407, 409can include a WiFi transceiver for communicating via a wirelesscommunications network. In another example, one or both of interfaces407, 409 may include cellular or mobile phone communicationstransceivers. In one embodiment, communications interface 407 is a powerline communications interface and BMS interface 409 is an Ethernetinterface. In other embodiments, both communications interface 407 andBMS interface 409 are Ethernet interfaces or are the same Ethernetinterface.

Still referring to FIG. 4, BMS controller 366 is shown to include aprocessing circuit 404 including a processor 406 and memory 408.Processing circuit 404 can be communicably connected to BMS interface409 and/or communications interface 407 such that processing circuit 404and the various components thereof can send and receive data viainterfaces 407, 409. Processor 406 can be implemented as a generalpurpose processor, an application specific integrated circuit (ASIC),one or more field programmable gate arrays (FPGAs), a group ofprocessing components, or other suitable electronic processingcomponents.

Memory 408 (e.g., memory, memory unit, storage device, etc.) may includeone or more devices (e.g., RAM, ROM, Flash memory, hard disk storage,etc.) for storing data and/or computer code for completing orfacilitating the various processes, layers and modules described in thepresent application. Memory 408 can be or include volatile memory ornon-volatile memory. Memory 408 may include database components, objectcode components, script components, or any other type of informationstructure for supporting the various activities and informationstructures described in the present application. According to someembodiments, memory 408 is communicably connected to processor 406 viaprocessing circuit 404 and includes computer code for executing (e.g.,by processing circuit 404 and/or processor 406) one or more processesdescribed herein.

In some embodiments, BMS controller 366 is implemented within a singlecomputer (e.g., one server, one housing, etc.). In various otherembodiments BMS controller 366 can be distributed across multipleservers or computers (e.g., that can exist in distributed locations).Further, while FIG. 4 shows applications 422 and 426 as existing outsideof BMS controller 366, in some embodiments, applications 422 and 426 canbe hosted within BMS controller 366 (e.g., within memory 408).

Still referring to FIG. 4, memory 408 is shown to include an enterpriseintegration layer 410, an automated measurement and validation (AM&V)layer 412, a demand response (DR) layer 414, a fault detection anddiagnostics (FDD) layer 416, an integrated control layer 418, and abuilding subsystem integration later 420. Layers 410-420 can beconfigured to receive inputs from building subsystems 428 and other datasources, determine optimal control actions for building subsystems 428based on the inputs, generate control signals based on the optimalcontrol actions, and provide the generated control signals to buildingsubsystems 428. The following paragraphs describe some of the generalfunctions performed by each of layers 410-420 in BMS 400.

Enterprise integration layer 410 can be configured to serve clients orlocal applications with information and services to support a variety ofenterprise-level applications. For example, enterprise controlapplications 426 can be configured to provide subsystem-spanning controlto a graphical user interface (GUI) or to any number of enterprise-levelbusiness applications (e.g., accounting systems, user identificationsystems, etc.). Enterprise control applications 426 may also oralternatively be configured to provide configuration GUIs forconfiguring BMS controller 366. In yet other embodiments, enterprisecontrol applications 426 can work with layers 410-420 to optimizebuilding performance (e.g., efficiency, energy use, comfort, or safety)based on inputs received at interface 407 and/or BMS interface 409.

Building subsystem integration layer 420 can be configured to managecommunications between BMS controller 366 and building subsystems 428.For example, building subsystem integration layer 420 may receive sensordata and input signals from building subsystems 428 and provide outputdata and control signals to building subsystems 428. Building subsystemintegration layer 420 may also be configured to manage communicationsbetween building subsystems 428. Building subsystem integration layer420 translate communications (e.g., sensor data, input signals, outputsignals, etc.) across a plurality of multi-vendor/multi-protocolsystems.

Demand response layer 414 can be configured to optimize resource usage(e.g., electricity use, natural gas use, water use, etc.) and/or themonetary cost of such resource usage in response to satisfy the demandof building 10. The optimization can be based on time-of-use prices,curtailment signals, energy availability, or other data received fromutility providers, distributed energy generation systems 424, fromenergy storage 427 (e.g., hot TES 242, cold TES 244, etc.), or fromother sources. Demand response layer 414 may receive inputs from otherlayers of BMS controller 366 (e.g., building subsystem integration layer420, integrated control layer 418, etc.). The inputs received from otherlayers may include environmental or sensor inputs such as temperature,carbon dioxide levels, relative humidity levels, air quality sensoroutputs, occupancy sensor outputs, room schedules, and the like. Theinputs may also include inputs such as electrical use (e.g., expressedin kWh), thermal load measurements, pricing information, projectedpricing, smoothed pricing, curtailment signals from utilities, and thelike.

According to some embodiments, demand response layer 414 includescontrol logic for responding to the data and signals it receives. Theseresponses can include communicating with the control algorithms inintegrated control layer 418, changing control strategies, changingsetpoints, or activating/deactivating building equipment or subsystemsin a controlled manner. Demand response layer 414 may also includecontrol logic configured to determine when to utilize stored energy. Forexample, demand response layer 414 may determine to begin using energyfrom energy storage 427 just prior to the beginning of a peak use hour.

In some embodiments, demand response layer 414 includes a control moduleconfigured to actively initiate control actions (e.g., automaticallychanging setpoints) which minimize energy costs based on one or moreinputs representative of or based on demand (e.g., price, a curtailmentsignal, a demand level, etc.). In some embodiments, demand responselayer 414 uses equipment models to determine an optimal set of controlactions. The equipment models may include, for example, thermodynamicmodels describing the inputs, outputs, and/or functions performed byvarious sets of building equipment. Equipment models may representcollections of building equipment (e.g., subplants, chiller arrays,etc.) or individual devices (e.g., individual chillers, heaters, pumps,etc.).

Demand response layer 414 may further include or draw upon one or moredemand response policy definitions (e.g., databases, XML files, etc.).The policy definitions can be edited or adjusted by a user (e.g., via agraphical user interface) so that the control actions initiated inresponse to demand inputs can be tailored for the user's application,desired comfort level, particular building equipment, or based on otherconcerns. For example, the demand response policy definitions canspecify which equipment can be turned on or off in response toparticular demand inputs, how long a system or piece of equipment shouldbe turned off, what setpoints can be changed, what the allowable setpoint adjustment range is, how long to hold a high demand setpointbefore returning to a normally scheduled setpoint, how close to approachcapacity limits, which equipment modes to utilize, the energy transferrates (e.g., the maximum rate, an alarm rate, other rate boundaryinformation, etc.) into and out of energy storage devices (e.g., thermalstorage tanks, battery banks, etc.), and when to dispatch on-sitegeneration of energy (e.g., via fuel cells, a motor generator set,etc.).

Integrated control layer 418 can be configured to use the data input oroutput of building subsystem integration layer 420 and/or demandresponse later 414 to make control decisions. Due to the subsystemintegration provided by building subsystem integration layer 420,integrated control layer 418 can integrate control activities of thesubsystems 428 such that the subsystems 428 behave as a singleintegrated supersystem. In some embodiments, integrated control layer418 includes control logic that uses inputs and outputs from a pluralityof building subsystems to provide greater comfort and energy savingsrelative to the comfort and energy savings that separate subsystemscould provide alone. For example, integrated control layer 418 can beconfigured to use an input from a first subsystem to make anenergy-saving control decision for a second subsystem. Results of thesedecisions can be communicated back to building subsystem integrationlayer 420.

Integrated control layer 418 is shown to be logically below demandresponse layer 414. Integrated control layer 418 can be configured toenhance the effectiveness of demand response layer 414 by enablingbuilding subsystems 428 and their respective control loops to becontrolled in coordination with demand response layer 414. Thisconfiguration may reduce disruptive demand response behavior relative toconventional systems. For example, integrated control layer 418 can beconfigured to assure that a demand response-driven upward adjustment tothe setpoint for chilled water temperature (or another component thatdirectly or indirectly affects temperature) does not result in anincrease in fan energy (or other energy used to cool a space) that wouldresult in greater total building energy use than was saved at thechiller.

Integrated control layer 418 can be configured to provide feedback todemand response layer 414 so that demand response layer 414 checks thatconstraints (e.g., temperature, lighting levels, etc.) are properlymaintained even while demanded load shedding is in progress. Theconstraints may also include setpoint or sensed boundaries relating tosafety, equipment operating limits and performance, comfort, fire codes,electrical codes, energy codes, and the like. Integrated control layer418 is also logically below fault detection and diagnostics layer 416and automated measurement and validation layer 412. Integrated controllayer 418 can be configured to provide calculated inputs (e.g.,aggregations) to these higher levels based on outputs from more than onebuilding subsystem.

Automated measurement and validation (AM&V) layer 412 can be configuredto verify that control strategies commanded by integrated control layer418 or demand response layer 414 are working properly (e.g., using dataaggregated by AM&V layer 412, integrated control layer 418, buildingsubsystem integration layer 420, FDD layer 416, or otherwise). Thecalculations made by AM&V layer 412 can be based on building systemenergy models and/or equipment models for individual BMS devices orsubsystems. For example, AM&V layer 412 may compare a model-predictedoutput with an actual output from building subsystems 428 to determinean accuracy of the model.

Fault detection and diagnostics (FDD) layer 416 can be configured toprovide on-going fault detection for building subsystems 428, buildingsubsystem devices (i.e., building equipment), and control algorithmsused by demand response layer 414 and integrated control layer 418. FDDlayer 416 may receive data inputs from integrated control layer 418,directly from one or more building subsystems or devices, or fromanother data source. FDD layer 416 may automatically diagnose andrespond to detected faults. The responses to detected or diagnosedfaults may include providing an alert message to a user, a maintenancescheduling system, or a control algorithm configured to attempt torepair the fault or to work-around the fault.

FDD layer 416 can be configured to output a specific identification ofthe faulty component or cause of the fault (e.g., loose damper linkage)using detailed subsystem inputs available at building subsystemintegration layer 420. In other exemplary embodiments, FDD layer 416 isconfigured to provide “fault” events to integrated control layer 418which executes control strategies and policies in response to thereceived fault events. According to some embodiments, FDD layer 416 (ora policy executed by an integrated control engine or business rulesengine) may shut-down systems or direct control activities around faultydevices or systems to reduce energy waste, extend equipment life, orassure proper control response.

FDD layer 416 can be configured to store or access a variety ofdifferent system data stores (or data points for live data). FDD layer416 may use some content of the data stores to identify faults at theequipment level (e.g., specific chiller, specific AHU, specific terminalunit, etc.) and other content to identify faults at component orsubsystem levels. For example, building subsystems 428 may generatetemporal (i.e., time-series) data indicating the performance of BMS 400and the various components thereof. The data generated by buildingsubsystems 428 may include measured or calculated values that exhibitstatistical characteristics and provide information about how thecorresponding system or process (e.g., a temperature control process, aflow control process, etc.) is performing in terms of error from itssetpoint. These processes can be examined by FDD layer 416 to exposewhen the system begins to degrade in performance and alert a user torepair the fault before it becomes more severe.

Smart Actuator Valve Device

Referring now to FIG. 5, a block diagram of a smart actuator valvedevice 500 is shown, according to some embodiments. Device 500 may beused in HVAC system 100, waterside system 200, airside system 300, orBMS 400, as described with reference to FIGS. 1-4. Smart actuator valvedevice 500 is shown to include an actuator 502 coupled to a valve 504.For example, actuator 502 may be a damper actuator, a valve actuator, afan actuator, a pump actuator, or any other type of actuator that can beused in an HVAC system or BMS. In various embodiments, actuator 500 maybe a linear actuator (e.g., a linear proportional actuator), anon-linear actuator, a spring return actuator, or a non-spring returnactuator.

Valve 504 may be any type of control device configured to control anenvironmental parameter in an HVAC system, including a 2-way or 3-waytwo position electric motorized valve, a ball isolation valve, afloating point control valve, an adjustable flow control device, or amodulating control valve. In some embodiments, valve 504 may regulatethe flow of fluid through a conduit, pipe, or tube (e.g., conduit 512)in a waterside system (e.g., waterside system 200, shown in FIG. 2).Conduit 512 may include upstream conduit section 506 and downstreamconduit section 508. In other embodiments, valve 504 may regulate theflow of air through a duct in an airside system (e.g., airside system300, shown in FIG. 3).

In some embodiments, actuator 502 and valve 504 are located within acommon integrated device chassis or housing. In short, actuator 502 andvalve 504 may not be packaged as separate devices, but as a singledevice. Reducing the number of devices in an HVAC system may providenumerous advantages, most notably in time and cost savings during theinstallation process. Because it is not necessary to install actuator502 and valve 504 as separate devices and then make a connection betweenthem, technicians performing the installation may require lessspecialized training and fewer tools. Other advantages of a singledevice may include simplification of control and troubleshootingfunctions. However, in some embodiments, actuator 502 and valve 504 arepackaged as separate devices that may be communicably coupled via awired or a wireless connection.

Still referring to FIG. 5, flow sensor 510 is shown to be disposedwithin downstream conduit section 508. Flow sensor 510 may be configuredto measure the flow rate or velocity of fluid passing through conduit512, and more specifically, the flow rate of fluid exiting valve 504.Flow sensor 510 may be any type of device (e.g., ultrasonic detector,paddle-wheel sensor, pilot tube, drag-force flowmeter) configured tomeasure the flow rate or velocity using any applicable flow sensingmethod. In some embodiments, flow sensor 510 is a heated thermistor flowsensor that operates according to the principles of King's Law.According to King's Law, the heat transfer from a heated object exposedto a moving fluid is a function of the velocity of the fluid. King's Lawdevices have several features, including very high sensitivity at lowflow rates and measurement of the fluid temperature (which may be usefulfor fault detection and control purposes), although they have decreasedsensitivity at high flow rates.

In other embodiments, flow sensor 510 is a vortex-shedding flowmeterconfigured to determine the fluid flow rate by calculating the Strouhalnumber. The Strouhal number is a dimensionless value useful forcharacterizing oscillating flow dynamics. A vortex-shedding flowmetermeasures the flow rate via acoustic detection of vortices in fluidcaused when the fluid flows past a cylindrically-shaped obstruction. Thevibrating frequency of the vortex shedding is correlated to the flowvelocity. Vortex-shedding flowmeters have good sensitivity over a rangeof flow rates, although they require a minimum flow rate in order to beoperational.

In some embodiments, flow sensor 510 is communicably coupled to smartactuator valve device 500. For example, flow sensor 510 may be coupledvia wired or wireless connection to a controller of device 500 for thepurpose of transmission of flow rate data signals. In variousembodiments, flow rate data signals may be used by the controller ofdevice 500 to determine control operations for actuator 502 and/or valve504. In further embodiments, flow sensor 510 is disposed within valve504 to measure the rate of fluid flow before the fluid exits valve 504.When flow sensor 510 is located within valve 504, flow sensor 510 mayadditionally function as a fault detection mechanism for smart actuatorvalve device 500. For example, when debris becomes lodged in actuator502 or valve 504, flow through valve 504 may be significantly reduced.This reduction in flow may occur because the components of actuator 502cannot freely operate valve 504, or because the debris within valve 504obstructs flow through conduit 512. As another example, if flow sensor510 is configured to measure the temperature of the fluid (e.g., becausesensor 510 is a heated thermistor flow sensor, described in greaterdetail with reference to FIG. 6 below) and actuator 502 experiences afailure causing the device to overheat, a controller within device 500may be able to detect the failure based on temperature data receivedfrom flow sensor 510.

Turning now to FIG. 6, a block diagram of another smart actuator valvedevice 600 is shown, according to some embodiments. Smart actuator valvedevice 600 may be used in HVAC system 100, waterside system 200, airsidesystem 300, or BMS 400, as described with reference to FIGS. 1-4. Device600 may represent a more detailed version of device 500. For example,smart actuator valve device 600 is shown to include actuator 602, whichmay be identical or substantially similar to actuator 502 in device 500.Actuator 602 may be configured to operate equipment 604. Equipment 604may include any type of system or device that can be operated by anactuator (e.g., a valve, a damper). In an exemplary embodiment, actuator602 and equipment 604 (e.g., a valve) are packaged within a commonintegrated device chassis.

Actuator 602 is shown to include a processing circuit 606 communicablycoupled to brushless DC (BLDC) motor 628. Processing circuit 606 isshown to include a processor 608, memory 610, and a main actuatorcontroller 632. Processor 608 can be a general purpose or specificpurpose processor, an application specific integrated circuit (ASIC),one or more field programmable gate arrays (FPGAs), a group ofprocessing components, or other suitable processing components.Processor 608 can be configured to execute computer code or instructionsstored in memory 610 or received from other computer readable media(e.g., CDROM, network storage, a remote server, etc.).

Memory 610 may include one or more devices (e.g., memory units, memorydevices, storage devices, etc.) for storing data and/or computer codefor completing and/or facilitating the various processes described inthe present disclosure. Memory 610 may include random access memory(RAM), read-only memory (ROM), hard drive storage, temporary storage,non-volatile memory, flash memory, optical memory, or any other suitablememory for storing software objects and/or computer instructions. Memory610 may include database components, object code components, scriptcomponents, or any other type of information structure for supportingthe various activities and information structures described in thepresent disclosure. Memory 610 can be communicably connected toprocessor 608 via processing circuit 606 and may include computer codefor executing (e.g., by processor 608) one or more processes describedherein. When processor 608 executes instructions stored in memory 610,processor 608 generally configures actuator 602 (and more particularlyprocessing circuit 606) to complete such activities.

Main actuator controller 632 may be configured to receive externalcontrol data 616 (e.g., position setpoints, speed setpoints, etc.) fromcommunications circuit 612 and position signals 624 from positionsensors 622. Main actuator controller 632 may be configured to determinethe position of BLDC motor 628 and/or drive device 630 based on positionsignals 624. In some embodiments, main actuator controller 632 receivesdata from additional sources. For example, motor current sensor 618 maybe configured to measure the electric current provided to BLDC motor628. Motor current sensor 618 may generate a feedback signal indicatingthe motor current 620 and may provide this signal to main actuatorcontroller 632 within processing circuit 608.

Still referring to FIG. 6, processing circuit 608 may be configured tooutput a pulse width modulated (PWM) DC motor command 634 to control thespeed of the BLDC motor. BLDC motor 628 may be configured to receive athree-phase PWM voltage output (e.g., phase A, phase B, phase C) frommotor drive inverter 626. The duty cycle of the PWM voltage output maydefine the rotational speed of BLDC motor 628 and may be determined byprocessing circuit 606 (e.g., a microcontroller). Processing circuit 606may increase the duty cycle of the PWM voltage output to increase thespeed of BLDC motor 628 and may decrease the duty cycle of the PWMvoltage output to decrease the speed of BLDC motor 628.

BLDC motor 628 may be coupled to drive device 630. Drive device 630 maybe a drive mechanism, a hub, or other device configured to drive oreffectuate movement of a HVAC system component (e.g., equipment 604).For example, drive device may be configured to receive a shaft of adamper, a valve, or any other movable HVAC system component in order todrive (e.g., rotate) the shaft. In some embodiments, actuator 602includes a coupling device configured to aid in coupling drive device630 to the movable HVAC system component. For example, the couplingdevice may facilitate attaching drive device 630 to a valve or dampershaft.

Position sensors 622 may include Hall effect sensors, potentiometers,optical sensors, or other types of sensors configured to measure therotational position of BLDC motor 628 and/or drive device 630. Positionsensors 622 may provide position signals 624 to processing circuit 606.Main actuator controller 632 may use position signals 624 to determinewhether to operate BLDC motor 628. For example, main actuator controller632 may compare the current position of drive device 630 with a positionsetpoint received via external data input 616 and may operate BLDC motor628 to achieve the position setpoint.

Actuator 602 is further shown to include a communications circuit 612.Communications circuit 612 may be a wired or wireless communicationslink and may use any of a variety of disparate communications protocols(e.g., BACnet, LON, WiFi, Bluetooth, NFC, TCP/IP, etc.). In someembodiments, communications circuit 612 is an integrated circuit, chip,or microcontroller unit (MCU) configured to bridge communicationsactuator 602 and external systems or devices. In some embodiments,communications circuit 612 is the Johnson Controls BACnet on a Chip(JBOC) product. For example, communications circuit 612 can be apre-certified BACnet communication module capable of communicating on abuilding automation and controls network (BACnet) using a master/slavetoken passing (MSTP) protocol. Communications circuit 612 can be addedto any existing product to enable BACnet communication with minimalsoftware and hardware design effort. In other words, communicationscircuit 612 provides a BACnet interface for smart actuator valve device600. Further details regarding the JBOC product are disclosed in U.S.patent application Ser. No. 15/207,431 filed Jul. 11, 2016, the entiredisclosure of which is incorporated by reference herein.

Communications circuit 612 may also be configured to support datacommunications within actuator 602. In some embodiments, communicationscircuit 612 may receive internal actuator data 614 from main actuatorcontroller 632. For example, internal actuator data 614 may include thesensed motor current 620, a measured or calculated motor torque, theactuator position or speed, configuration parameters, end stoplocations, stroke length parameters, commissioning data, equipment modeldata, firmware versions, software versions, time series data, acumulative number of stop/start commands, a total distance traveled, anamount of time required to open/close equipment 604 (e.g., a valve), orany other type of data used or stored internally within actuator 602. Insome embodiments, communications circuit 612 may transmit external data616 to main actuator controller 632. External data 616 may include, forexample, position setpoints, speed setpoints, control signals,configuration parameters, end stop locations, stroke length parameters,commissioning data, equipment model data, actuator firmware, actuatorsoftware, or any other type of data which can be used by actuator 602 tooperate BLDC motor 628 and/or drive device 630.

In some embodiments, external data 616 is a DC voltage control signal.Actuator 602 can be a linear proportional actuator configured to controlthe position of drive device 630 according to the value of the DCvoltage received. For example, a minimum input voltage (e.g., 0.0 VDC)may correspond to a minimum rotational position of drive device 630(e.g., 0 degrees, −5 degrees, etc.), whereas a maximum input voltage(e.g., 10.0 VDC) may correspond to a maximum rotational position ofdrive device 630 (e.g., 90 degrees, 95 degrees, etc.). Input voltagesbetween the minimum and maximum input voltages may cause actuator 602 tomove drive device 630 into an intermediate position between the minimumrotational position and the maximum rotational position. In otherembodiments, actuator 602 can be a non-linear actuator or may usedifferent input voltage ranges or a different type of input controlsignal (e.g., AC voltage or current) to control the position and/orrotational speed of drive device 630.

In some embodiments, external data 616 is an AC voltage control signal.Communications circuit 612 may be configured to transmit an AC voltagesignal having a standard power line voltage (e.g., 120 VAC or 230 VAC at50/60 Hz). The frequency of the voltage signal can be modulated (e.g.,by main actuator controller 632) to adjust the rotational positionand/or speed of drive device 630. In some embodiments, actuator 602 usesthe voltage signal to power various components of actuator 602. Actuator602 may use the AC voltage signal received via communications circuit612 as a control signal, a source of electric power, or both. In someembodiments, the voltage signal is received from a power supply linethat provides actuator 602 with an AC voltage having a constant orsubstantially constant frequency (e.g., 120 VAC or 230 VAC at 50 Hz or60 Hz). Communications circuit 612 may include one or more dataconnections (separate from the power supply line) through which actuator602 receives control signals from a controller or another actuator(e.g., 0-10 VDC control signals).

Cascaded Control System

Referring now to FIG. 7, a block diagram of a smart actuator device 702within a cascaded control system 700 is shown, according to someembodiments. In a cascaded control system, a primary controller (e.g.,controller 704) generates a control signal that serves as the setpointfor a secondary controller (e.g., flow/velocity feedback controller736). In some embodiments, the control path including the control signalgenerated by the primary controller may be referred to as an “outerloop,” while the control path including the secondary controller may bereferred to as an “inner loop.” In some embodiments, cascaded controlsystem 700 is a component or subsystem of HVAC system 100, watersidesystem 200, airside system 300, or BMS 400, as described with referenceto FIGS. 1-4. Cascaded control system 700 may include, among othercomponents, smart actuator device 702, controller 704, building zone706, zone temperature controller 724, and valve 746.

In some embodiments, controller 704 is a primary controller for thecomponents of an HVAC system (e.g., HVAC system 100) within the outercontrol loop of cascaded control system 700. In other embodiments,controller 704 is a thermostat or a BMS controller (e.g., for BMS 400).In still further embodiments, controller 704 is a user device configuredto run a building management application (e.g., a mobile phone, atablet, a laptop). Controller 704 may receive data from temperaturesensor 708. Temperature sensor 708 may be any type of sensor or deviceconfigured to measure an environmental condition (e.g., temperature) ofa building zone 706. Building zone 706 may be any subsection of abuilding (e.g., a room, a block of rooms, a floor).

Controller 704 is shown to include a digital filter 712, a wirelesscommunications interface 718, and a comparator 720. Measured zonetemperature data 710 from temperature sensor 708 may be received as aninput signal to digital filter 712. Digital filter 712 may be configuredto convert the measured zone temperature data 710 into a measured zonetemperature feedback signal 714 that may be provided as an input tocomparator 720. In some embodiments, digital filter 712 is a first orderlow pass filter. In other embodiments, digital filter 712 may be a lowpass filter of a different order or a different type of filter.

Controller 704 is further shown to include wireless communicationsinterface 718. In some embodiments, wireless communications interface718 may communicate data from controller 704 to wireless communicationsinterface 752 of smart actuator device 702. In other embodiments,communications interfaces 718 and 752 may communicate with otherexternal systems or devices. Communications via interface 718 may bedirect (e.g., local wireless communications) or via a communicationsnetwork (e.g., a WAN, the Internet, a cellular network). For example,interfaces 718 and 752 may include a Wi-Fi transceiver for communicatingvia wireless communications network. In another example, one or bothinterfaces 718 and 752 may include cellular or mobile phonecommunications transceivers. In some embodiments, multiple controllersand smart actuator devices may communicate using a mesh topology. Inother embodiments, communications interfaces 718 and 752 may beconfigured to transmit smart actuator device data (e.g., a fault status,an actuator and/or valve position) to an external network. In stillfurther embodiments, communications interfaces 718 and 752 are connectedvia a wired, rather than wireless, network.

Comparator 720 may be configured to compare the measured zonetemperature feedback signal 714 output from digital filter 712 with azone temperature setpoint value 716. Comparator 720 may then output atemperature error signal 722 that is received by zone temperaturecontroller 724. Comparator 720 may be a discrete electronics part orimplemented as part of controller 704. If comparator 720 determines thatthe zone temperature feedback signal 714 is higher than the zonetemperature setpoint value 716 (i.e., building zone 706 is hotter thanthe setpoint value), zone temperature controller 724 may output acontrol signal that causes smart actuator device 702 to modify the flowrate through water coil 750 such that cooling to building zone 706 isincreased. If comparator 720 determines that the zone temperaturefeedback signal 714 is lower than the zone temperature setpoint value716 (i.e., building zone 706 is cooler than the setpoint value), zonetemperature controller 724 may output a control signal that causes smartactuator device 702 to modify the flow rate through water coil 750 suchthat heating to building zone 706 is increased.

In various embodiments, zone temperature controller 724 is a patternrecognition adaptive controller (PRAC), a model recognition adaptivecontroller (MRAC), or another type of tuning or adaptive feedbackcontroller. Adaptive control is a control method in which a controllermay adapt to a controlled system with associated parameters which vary,or are initially uncertain. In some embodiments, zone temperaturecontroller 724 is similar or identical to the adaptive feedbackcontroller described in U.S. Pat. No. 8,825,185, granted on Sep. 2,2014, the entirety of which is herein incorporated by reference.

Still referring to FIG. 7, smart actuator device 702 is shown to includea flow/velocity span block 726, a comparator 730, a flow/velocityfeedback controller 736, a digital filter 738, a valve actuator 740, anda wireless communications interface 752. Zone temperature error 722output from comparator 720 may be transmitted to smart actuator 702 viazone temperature controller 724. Flow/velocity span block 726 may beconfigured to enforce allowable maximum and minimum flow range limits onthe received zone temperature error 722. For example, a technicianinstalling the components of cascaded control system 700 or anadministrator of HVAC system 100 may input a maximum and/or a minimumflow range limit for the flow/velocity span block 726. In someembodiments, the flow range limits are transmitted via mobile device(e.g., a smart phone, a table) and are received via wirelesscommunications interface 752 of smart actuator device 702. In otherembodiments, the flow range limits are transmitted to interface 752 viawired network.

In other embodiments, flow limits may be calibrated on-site (e.g., by awater balancer) at the building location. For example, a water balancermay be used to manually adjust the position of valve 746 until a desiredmaximum and/or minimum flow rate is obtained, as measured by certifiedequipment. In some embodiments, these limits are subsequentlycommunicated to flow/velocity span block 726. The water balancingtechnique may be desirable when a high degree of accuracy in flow ratemeasurement is desired. In still further embodiments, logic within smartactuator device 702 (e.g., flow/velocity feedback controller 736) mayprovide feedback to flow/velocity span block 726 to adjust the flow ratelimits based on historical operating data.

Comparator 730 may compare the flow rate/velocity setpoint 728 outputreceived from flow/velocity span block 726 to measured flowrate/velocity data. Measured flow rate velocity data may be receivedfrom flow rate sensor 748 via digital filter 738. Digital filter 738 isconfigured to convert the measured flow rate/velocity data 742 into aflow rate/velocity feedback signal 714 that may be provided as an inputto comparator 720. In some embodiments, digital filter 738 is a firstorder low pass filter. In other embodiments, digital filter 738 may be alow pass filter of a different order or a different type of filter.

Comparator 730 may be a discrete electronics part or implemented as partof flow/velocity feedback controller 736. In some embodiments,comparator 730 may output a flow rate/velocity error signal 734 toflow/velocity feedback controller 736. For example, if comparator 730determines that flow rate/velocity setpoint 728 is higher than flowrate/velocity feedback 732, comparator 730 may generate a flowrate/velocity error signal 734 that causes flow/velocity feedbackcontroller 736 to operate valve actuator 740 to increase the flowrate/velocity through valve 746. Conversely, if comparator 730determines that flow rate/velocity setpoint 728 is lower than flowrate/velocity feedback 732, comparator 730 may generate a flowrate/velocity error signal 734 that causes flow/velocity feedbackcontroller 736 to operate valve actuator 740 to decrease the flowrate/velocity through valve 746.

Flow/velocity feedback controller 736 is configured to receive flowrate/velocity error signal 734 from comparator 730 and to output acommand signal to valve actuator 740 to drive the error signal to zero(i.e., to operate valve actuator 740 such that the measured flowrate/velocity 742 is equal to the flow rate/velocity setpoint 728).Similar to zone temperature controller 724, in various embodiments,flow/velocity feedback controller 736 is a pattern recognition adaptivecontroller (PRAC), a model recognition adaptive controller (MRAC), oranother type of tuning or adaptive feedback controller. In otherembodiments, flow/velocity feedback controller 736 operates using statemachine or proportional-integral-derivative (PID) logic.

Flow/velocity feedback controller 736 may be configured to output anactuator control signal (e.g., a DC signal, an AC signal) to valveactuator 740. In some embodiments, valve actuator 740 is identical orsubstantially similar to actuator 502 as described with reference toFIG. 5. For example, valve actuator 740 may be a linear actuator (e.g.,a linear proportional actuator), a non-linear actuator, a spring returnactuator, or a non-spring return actuator. Valve actuator 740 mayinclude a drive device coupled to valve 746 and configured to rotate ashaft of valve 746. In some embodiments, valve 746 is identical orsubstantially similar to valve 504 as described with reference to FIG.5. For example, in various embodiments, valve 746 may be a 2-way or3-way two position electric motorized valve, a ball isolation valve, afloating point control valve, an adjustable flow control device, or amodulating control valve.

Still referring to FIG. 7, cascaded flow rate system is further shown toinclude a flow rate sensor 748. In some embodiments, flow rate sensor748 is identical or substantially similar to the flow rate sensor 510 asdescribed with reference to FIG. 5. For example, in various embodiments,flow rate sensor 748 may be a heated thermistor flow sensor or avortex-shedding flowmeter. Flow rate sensor 748 may be disposeddownstream of valve 746 to measure the flow rate and/or velocity offluid exiting valve 746. In some embodiments, flow rate sensor 748 isconfigured to have high sensitivity to changes in flow rate or velocityand, at the same time, to reject pressure fluctuations within thesystem. In further embodiments, cascaded control systems may beconfigured to reject fluctuations in system characteristics other thanpressure. For example, these characteristics may include inlet watertemperature, inlet air temperature, and airside mass flow. Oncecollected, flow rate and/or velocity data 742 from flow rate sensor 748may be provided to digital filter 738 of smart actuator device 702.

Fluid that passes through valve 746 may flow through water coil 750. Insome embodiments, valve 746 is used to modulate an amount of heating orcooling provided to the supply air for building zone 706. In variousembodiments, water coil 750 may be used to achieve zone setpointtemperature 716 for the supply air of building zone 706 or to maintainthe temperature of supply air for building zone 706 within a setpointtemperature range. The position of valve 746 may affect the amount ofheating or cooling provided to supply air via water coil 750 and maycorrelate with the amount of energy consumed to achieve a desired supplyair temperature.

Turning now to FIG. 8, another block diagram of a smart actuator valvedevice 802 within a cascaded control system 800 is shown, according tosome embodiments. In some embodiments, cascaded control system 800 is acomponent or subsystem of HVAC system 100, waterside system 200, airsidesystem 300, or BMS 400, as described with reference to FIGS. 1-4.Cascaded control system 800 may be identical or substantially similar tocascaded control system 700 as described with reference to FIG. 7, withthe exception that flow sensor 848 (which may be identical orsubstantially similar to flow sensor 748) is disposed within the devicebody of valve 846 (as opposed to downstream of the valve, as with valve746 and flow sensor 748).

Referring now to FIGS. 9A-12, block diagrams of smart actuator valvedevices within a cascaded control system are shown, according to variousembodiments. FIG. 9A depicts a cascaded control system 900 in which flowrate sensor 948 (which may be identical or substantially similar to flowrate sensor 748) is disposed within valve 946. Valve 946 (which may beidentical or substantially similar to valve 746) is disposed withinsmart actuator valve device 902.

FIG. 9B depicts a cascaded control system 901 in which flow rate sensor949 is similarly disposed within valve 947, and valve 947 is disposedwithin smart actuator valve device 903. However, in contrast to system900, FIG. 9B depicts a system 901 in which components previouslydescribed as located within one or more separate devices (e.g., digitalfilter 912, comparator 920, zone temperature controller 924 of system900) are instead located within the common integrated device chassis ofsmart actuator valve device 903. In short, measured zone temperature 911and zone temperature setpoint 917 may be provided as direct inputs tosmart actuator device 913 without the use of any intermediary devices.The configurations of smart actuator valve devices 902 and 903 asdepicted in FIGS. 9A and 9B may prove particularly advantageous becauseeach reduces the number of installed devices necessary to implement acascaded control system of the type described in FIGS. 7-12.

Turning now to FIG. 10, another embodiment of a cascaded control systemdepicts a system 1000 in which valve 1046 (which may be identical orsubstantially similar to valve 746) is disposed within smart actuatorvalve device 1002. Flow rate sensor 1048 (which may be identical orsubstantially similar to flow rate sensor 748) is located downstream ofvalve 1046 and outside of smart actuator valve device 1002. FIG. 11depicts another embodiment of a cascaded control system 1100. As shown,smart actuator valve device 1102 may be identical or substantiallysimilar to smart actuator valve device 902 (i.e., flow rate sensor 1148is located within valve 1146, and valve 1146 is located within device1102). However, cascaded control system 1100 is configured such thatzone temp controller 1124 is disposed within thermostat 1104. Finally,FIG. 12 depicts yet another embodiment of a cascaded control system1200. Similar to system 1100, system 1200 depicts a smart actuator valvedevice 1202 in which flow rate sensor 1248 is disposed within valve1246, and valve 1246 is disposed within device 1202. Unlike system 1100,however, zone temperature controller 1224 of system 1200 is locatedwithin smart actuator valve device 1202, rather than within BMScontroller 1204.

Referring now to FIG. 13, a flow diagram of a process 1300 for operatinga smart actuator valve device within a cascaded control system is shown,according to an exemplary embodiment. Process 1300 may be performed byany or all of cascaded control systems 700, 800, 900, 1000, 1100, and1200 as described with reference to FIGS. 7-12. For the purposes ofsimplicity, process 1300 will be specifically described below withreference to cascaded control system 700.

Process 1300 is shown to include smart actuator device 702 receiving aflow rate setpoint 728 from the outer control loop (step 1302). Flowrate setpoint 728 may be generated through a series of steps in theouter control loop. First, comparator 720 of controller 704 may comparea zone temperature setpoint 716 received from a source external tosystem 700 (e.g., a supervisory controller, a user mobile device) tomeasured zone temperature feedback 714 from building zone 706. Based onthis comparison, comparator 720 may generate a zone temperature errorsignal 722 that is received by zone temperature controller 724. Zonetemperature controller 724 may be configured to generate a flow ratesetpoint 728 based on the temperature error signal 722 and transmit flowrate setpoint 728 to smart actuator valve device 702. After verifyingthat the flow rate setpoint 728 does not exceed a maximum or minimumflow rate limit stored in flow/velocity span block 726, setpoint 728 maybe provided as input to comparator 730.

Process 1300 is also shown to include smart actuator device 702receiving a flow rate sensor measurement 742 from the inner control loop(step 1304). In some embodiments, flow rate sensor data 742 measured viaflow rate sensor 748 is first received at smart actuator device 702 bydigital filter 738. In various embodiments, digital filter 738 may be afirst order low pass filter, a low pass filter of a different order, ora different type of filter. After digital filter 738 converts themeasured flow rate/velocity data 742 to a flow rate/velocity feedbacksignal 732, feedback signal 732 is transmitted to comparator 730.

Continuing with step 1306 of process 1300, flow/velocity feedbackcontroller 736 detects whether smart actuator device 702 is experiencinga fault condition. For example, smart flow/velocity feedback controller736 may log a fault condition if either valve actuator 740 or valve 746experiences an electrical or mechanical fault (e.g., signal interruptionto valve actuator 740 and/or valve 746, collected debris within valveactuator 740 and/or valve 746). Flow/velocity feedback controller 736may determine the existence of a fault via the measured flowrate/velocity data 742 and/or flow rate/velocity feedback signal 732.For example, if either flow rate data 742 or flow rate feedback signal732 indicates that the flow through valve 746 is zero or effectivelyzero, feedback controller 736 may log a fault condition for smartactuator device 702. Similarly, if flow rate sensor 748 is a heatedthermistor-type flow rate sensor and temperature data from the sensorindicates that the temperature of the fluid flowing through valve 746 isunusually high, feedback controller 736 may log a fault condition. Insome embodiments, the existence of a fault may be expressed as a binarysignal (e.g., 0 for no fault detected, 1 for fault detected).

At step 1308, flow/velocity feedback controller 736 determines anactuator position setpoint based on the flow rate/velocity error signal734 received from comparator 730. In some embodiments, as describedabove, the flow rate/velocity error signal 734 is determined bycomparator 730 based on a comparison between flow rate/velocity setpoint728 and flow rate/velocity feedback 732. The actuator position setpointdetermined by flow/velocity feedback controller 736 may be expressed ina variety of ways, including number of degrees of rotation of a drivedevice relative to a fixed position (e.g., a zero location, a mechanicalend stop, etc.) a number of revolutions of the motor, a number of Hallsensor counts, etc.

Process 1300 continues with step 1310, in which smart actuator device702 drives valve actuator 740 to the actuator position setpoint. In someembodiments, flow/velocity feedback controller 736 may transmit anactuator position control signal (e.g., a DC voltage, an AC voltage) tovalve actuator 740. As described above with reference to FIG. 7, valveactuator 740 may be coupled to valve 746 via a drive device, and thus achange in the position of valve actuator 740 may effect a change in theposition of valve 746. A change in the position of valve 746 results ina corresponding change in flow rate of the fluid passing through valve746.

Process 1300 concludes with step 1312, in which smart actuator device702 transmits data regarding the smart actuator device 702 to anexternal device or network. In some embodiments, this data may includethe fault condition status and actuator position setpoint of device 702.For example, if flow/velocity feedback controller 736 logged a faultcondition in step 1306, wireless communications interface 752 maytransmit a status message indicating the presence of a fault conditionat step 1312. Similarly, wireless communications interface 752 maytransmit an actuator position message based on the position setpointdetermined at step 1308. Transmission of fault status and position datato external devices and/or networks may be useful in directingtechnicians to devices that require servicing. Transmission of devicedata may also be necessary or helpful in optimizing a system pressuresetpoint value, described in greater detail below with reference to FIG.16.

Smart Actuator Valve Device Applications

The smart actuator valve devices described above with reference to FIGS.5-13 may be suitable for a variety of applications that representimprovements over existing actuator devices. One application is deviceidentification and recognition. In some embodiments, deviceidentification and recognition functions may be performed by mainactuator controller 632 of the integrated smart actuator device 600.Device identification may include identification of the location of thesmart actuator device within HVAC system 100. For example, it may beuseful to pinpoint the location of the smart actuator device in orderfor a technician to troubleshoot, service, or replace the device. Invarious embodiments, smart actuator device location information may betransmitted from the smart actuator device to a supervisory controlleror a technician's mobile device.

Device recognition may include determination of the specific types ofequipment (e.g., valves, dampers) either coupled to or integrated withinthe smart actuator device. In some embodiments, device recognitionfunctions are performed by main actuator controller 632 of theintegrated smart actuator device 600. For example, the smart actuatormay detect properties of the coupled equipment including flowrequirements, stroke length, and the performance profile. By recognizingthe characteristics of the coupled equipment, the smart actuator devicecan tailor both the operation of the smart actuator device and thecontrol signals sent the equipment to ensure the equipment isfunctioning optimally.

As referenced above, another smart actuator valve device application isfault detection and troubleshooting. In addition to identifying thedevice location for service and replacement purposes, the smart actuatorvalve device may include functionality permitting the device to detectfaults and to shut down the device before permanent damage can occur.For example, as described above with reference to FIGS. 7-12, in someembodiments, the flow sensor detecting flow through the valve is aheated thermistor flow sensor. A heated thermistor flow sensor operatesaccording to the principles of King's Law and provides a temperaturemeasurement of the fluid flowing through the valve. If, for example, thetemperature of the fluid is detected to be abnormally high, the smartactuator device may log a fault condition and shut down to prevent theoverheating of any sensitive components. As another example, if the flowrate through the valve is detected to be either abnormally high orabnormally low, the smart actuator device controller may performfunctions (e.g., operating the actuator over its entire stroke length)to determine whether the fault is occurring within the valve or theactuator itself.

Still another smart actuator valve device application is the automaticbalancing of valves. Manual balancing of valves often includessubstantial manual effort (e.g., technicians must often disassembleceiling tiles to access valves) and the process is iterative, requiringmany adjustments across many valves before an optimal configuration isachieved. In various embodiments, a valve balancing program may betransmitted from a technician's mobile device, received bycommunications circuit 612 of the smart actuator device 600, andexecuted by main actuator controller 632. Automatic valve balancingfunctionality may be particularly desirable to quickly re-configure anHVAC system when a new tenant of a building desires a different buildinglayout than a prior tenant.

Another smart actuator device application may include the checkout offire dampers. Fire dampers are passive fire protection devices used inHVAC ducts to prevent the spread of fire inside the ductwork throughfire-resistance rated walls and floors. Certain buildings (e.g.,hospitals) must perform scheduled checkouts that involve actuation ofthe dampers to ensure their proper operation. By coupling the firedampers to smart actuators that are able to receive wireless controlsignals (e.g., via communications circuit 612 of the smart actuatordevice 600), an inspector may easily complete the checkout via damperactuation signals transmitted from the inspector's mobile device.

Configuration of Exemplary Embodiments

The construction and arrangement of the systems and methods as shown inthe various exemplary embodiments are illustrative only. Although only afew embodiments have been described in detail in this disclosure, manymodifications are possible. For example, the position of elements may bereversed or otherwise varied and the nature or number of discreteelements or positions may be altered or varied. Accordingly, all suchmodifications are intended to be included within the scope of thepresent disclosure. The order or sequence of any process or method stepsmay be varied or re-sequenced according to alternative embodiments.Other substitutions, modifications, changes, and omissions may be madein the design, operating conditions and arrangement of the exemplaryembodiments without departing from the scope of the present disclosure.

The present disclosure contemplates methods, systems and programproducts on any machine-readable media for accomplishing variousoperations. The embodiments of the present disclosure may be implementedusing existing computer processors, or by a special purpose computerprocessor for an appropriate system, incorporated for this or anotherpurpose, or by a hardwired system. Embodiments within the scope of thepresent disclosure include program products comprising machine-readablemedia for carrying or having machine-executable instructions or datastructures stored thereon. Such machine-readable media can be anyavailable media that can be accessed by a general purpose or specialpurpose computer or other machine with a processor. By way of example,such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROMor other optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium which can be used to carry or storedesired program code in the form of machine-executable instructions ordata structures and which can be accessed by a general purpose orspecial purpose computer or other machine with a processor. Combinationsof the above are also included within the scope of machine-readablemedia. Machine-executable instructions include, for example,instructions and data which cause a general purpose computer, specialpurpose computer, or special purpose processing machines to perform acertain function or group of functions.

Although the figures show a specific order of method steps, the order ofthe steps may differ from what is depicted. Also two or more steps maybe performed concurrently or with partial concurrence. Such variationwill depend on the software and hardware systems chosen and on designerchoice. All such variations are within the scope of the disclosure.Likewise, software implementations could be accomplished with standardprogramming techniques with rule based logic and other logic toaccomplish the various connection steps, processing steps, comparisonsteps and decision steps.

What is claimed is:
 1. An integrated device in an HVAC system configuredto modify an environmental condition of a building, the integrateddevice comprising: a valve configured to regulate a flow of a fluidthrough a conduit; an actuator comprising a motor and a drive device,the drive device driven by the motor and coupled to the valve fordriving the valve between multiple positions; and a processing circuitcoupled to the motor and configured to: detect device identifyinginformation for at least one of the valve or the actuator; and detectthe integrated device location within the building.
 2. The integrateddevice of claim 1, further comprising a communications mechanism coupledto the processing circuit.
 3. The integrated device of claim 2, whereinthe communications mechanism is configured to transmit the integrateddevice location to an external device.
 4. The integrated device of claim3, wherein the external device is at least one of a supervisorycontroller and a mobile device.
 5. The integrated device of claim 1,wherein device identifying information comprises a flow requirement. 6.The integrated device of claim 1, wherein device identifying informationcomprises a stroke length.
 7. The integrated device of claim 1, whereindevice identifying information comprises a performance profile.
 8. Anintegrated device in an HVAC system configured to modify anenvironmental condition of a building, the integrated device comprising:a valve configured to regulate a flow of a fluid through a conduit; aflow sensor configured to measure a flow rate of the fluid through theconduit; an actuator comprising a motor and a drive device, the drivedevice driven by the motor and coupled to the valve for driving thevalve between multiple positions; and a processing circuit coupled tothe motor and the flow sensor and configured to: detect a faultcondition based at least in part on a measurement from the flow sensor;and perform a fault resolution action in response to detection of thefault condition; wherein at least the actuator and the processingcircuit are located within a common integrated device chassis.
 9. Theintegrated device of claim 8, further comprising a communicationsmechanism coupled to the processing circuit.
 10. The integrated deviceof claim 9, wherein the communications mechanism is configured toreceive a flow rate setpoint from an external control device, andwherein the processing circuit is further configured to detect the faultcondition based at least in part on the flow rate setpoint.
 11. Theintegrated device of claim 8, wherein the fault resolution actioncomprises logging the fault condition.
 12. The integrated device ofclaim 8, wherein the flow sensor is a heated thermistor flow sensor. 13.The integrated device of claim 12, wherein the heated thermistor flowsensor is configured to measure a temperature of the fluid through theconduit.
 14. The integrated device of claim 13, wherein the faultcondition comprises a temperature measurement of the fluid through theconduit exceeding a temperature threshold.
 15. The integrated device ofclaim 8, wherein the fault condition comprises a flow measurement offluid through the conduit exceeding a flow rate threshold.
 16. Theintegrated device of claim 15, wherein the fault resolution actioncomprises transmitting a signal to the motor to drive the drive device afull stroke length between a first end stop location and a second endstop location.
 17. An integrated device in an HVAC system configured tomodify an environmental condition of a building, the integrated devicecomprising: a valve configured to regulate a flow of a fluid through aconduit; an actuator comprising a motor and a drive device, the drivedevice driven by the motor and coupled to the valve for driving thevalve between multiple positions; a communications mechanism configuredto receive an automatic valve balancing application from an externaldevice; and a processing circuit coupled to the motor and thecommunications mechanism and configured to execute the automatic valvebalancing application; wherein at least the actuator, the communicationsmechanism, and the processing circuit are located within a commonintegrated device chassis.
 18. The integrated device of claim 17,wherein the external device comprises a mobile device.
 19. Theintegrated device of claim 17, further comprising a flow sensorconfigured to measure a flow rate of the fluid through the conduit. 20.The integrated device of claim 19, wherein the flow sensor is locatedwithin the common integrated device chassis.